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首页> 外文期刊>Journal of guidance, control, and dynamics >Constrained Relative Attitude Determination for Two-Vehicle Formations
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Constrained Relative Attitude Determination for Two-Vehicle Formations

机译：两车编队约束相对姿态确定

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摘要

This paper studies constrained relative attitude determination of a formation of two vehicles. A deterministic solution for the relative attitude between the two vehicles with line-of-sight observations between them and a common object observed by both vehicles is presented. The constraint may either be a planar constraint or triangle constraint of the observed vectors. The differences between both are shown. Either constraint allows for a solution without having to know the location of the common object The presented solution with the constraint represents the minimum number of measurements required to determine the relative attitude and no ambiguities are present. To quantify the performance of the algorithm the covariance of the attitude error is derived using a linearized error model from a least-squares point of view. A sensitivity analysis is also performed in order to assess how out-of-plane observations affect the overall solution. Simulation results are provided to assess the performance of the proposed new approach.
机译：本文研究了两个车辆编队的受限相对姿态确定。提出了两个车辆之间的相对姿态的确定性解决方案，它们之间具有视线观察，并且两个车辆都观测到一个共同的物体。该约束可以是观测矢量的平面约束或三角形约束。显示了两者之间的差异。任一约束都允许解决方案，而不必知道公共对象的位置。所提出的具有约束的解决方案表示确定相对姿态所需的最少测量次数，并且不存在歧义。为了量化算法的性能，从最小二乘的角度使用线性化的误差模型导出姿态误差的协方差。为了评估平面外的观测如何影响整体解决方案，还进行了敏感性分析。提供仿真结果以评估提出的新方法的性能。

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  • 来源
    《Journal of guidance, control, and dynamics》 |2011年第2期|p.543-553|共11页
  • 作者

    Richard Linares; John L. Crassidis; Yang Cheng;

  • 作者单位

    University at Buffalo, State University of New York, Amherst, New York 14260,Department of Mechanical and Aerospace Engineering;

    University at Buffalo, State University of New York, Amherst, New York 14260,Department of Mechanical and Aerospace Engineering;

    Mississippi State University, Mississippi State, Mississippi 39762,Department of Mechanical and Aerospace Engineering;

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